Multi-Robot Germicidal System

Far-UVC Disinfection with Robotic Mobile Manipulator

Ishaan Mehta, Hao-Ya Hsueh, Nikolaos Kourtzanidis, Mateusz Brylka and Sajad Saeedi

Paper: https://arxiv.org/abs/2203.01286

International Symposium on Medical Robotics (ISMR), April 13-15, 2022, Atlanta, GA, USA
https://www.ismr.gatech.edu/

UV Disinfection Robots: A Review

Ishaan Mehta, Hao-Ya Hsueh, Sharareh Taghipour, Wenbin Li and Sajad Saeedi

Paper: https://doi.org/10.1016/j.robot.2022.104332

Robotics and Autonomous Systems,161, March 2023

This project presents a low-cost and automated approach to disinfect enclosed environments, such as long-term care homes (LTCs), schools, and other public places.

In this video, you see five robots working collaboratively to disinfect a classroom. Four robots disinfect the desk and one is disinfecting the doorknob. This is a concept simulation with CAD models. (Note: no audio)

This video shows a full autonomy simulation in Robot Operating System (ROS) and Gazebo. You see two robots being dispatched to two desks to disinfect them. The window on the left of the screen shows the Gazebo simulation. This is how the simulated world and the robots look like. The window on the right of the screen is the navigation interface and shows how the robots see the world. (Note: video was sped up 6x, no audio)

In this video, you see three robots working collaboratively to disinfect a desk and a chair. (Note: video was sped up 2.5x, no audio)

This project is funded by Department of National Defence, Innovation for Defence Excellence and Security (“IDEaS”) program, Grant # CPCA-0126. If you have any questions, feel free to reach out to us at the following email: rcvl@ryerson.ca